Sungwoo Kim / Mbed 2 deprecated HydraulicControlBoard

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Dependencies:   mbed Eigen FastPWM

setting.h@23:59218d4a256d, 2019-09-10 (annotated)

Committer:
Lightvalve
Date:
Tue Sep 10 09:38:26 2019 +0000
Revision:
23:59218d4a256d
Parent:
22:966b35691d69
Child:
26:8317d883d4f2
190910

Who changed what in which revision?

UserRevisionLine numberNew contents of line
GiJeongKim 0:51c43836c1d7 1 #include "mbed.h"
GiJeongKim 0:51c43836c1d7 2 #include "FastPWM.h"
GiJeongKim 0:51c43836c1d7 3
GiJeongKim 0:51c43836c1d7 4 // pwm
jobuuu 2:a1c0a37df760 5 #define PIN_V PB_7
jobuuu 2:a1c0a37df760 6 #define PIN_W PB_6
jobuuu 2:a1c0a37df760 7 //#define PWM_ARR 0x465 // loop 80k, pwm 40k
jobuuu 2:a1c0a37df760 8 //#define PWM_ARR 0x8CA // loop 40k, pwm 20k
Lightvalve 19:23b7c1ad8683 9 //#define PWM_ARR 0x1194 // loop 20k, pwm 10k
Lightvalve 19:23b7c1ad8683 10 #define PWM_ARR 0x2328 // loop 10k, pwm 5k
Lightvalve 11:82d8768d7351 11 #define TMR3_COUNT 0x4650 // loop 5k
Lightvalve 23:59218d4a256d 12 #define TMR2_COUNT 0x2710 // loop 500hz with prescale 18
jobuuu 2:a1c0a37df760 13
Lightvalve 20:806196fda269 14 #define FREQ_500 500.0
Lightvalve 23:59218d4a256d 15 #define FREQ_1k 1000.0
jobuuu 2:a1c0a37df760 16 #define FREQ_5k 5000.0
jobuuu 2:a1c0a37df760 17 #define FREQ_10k 10000.0
jobuuu 2:a1c0a37df760 18 #define FREQ_20k 20000.0
jobuuu 2:a1c0a37df760 19 #define FREQ_40k 40000.0
Lightvalve 20:806196fda269 20 #define DT_500 0.002
Lightvalve 23:59218d4a256d 21 #define DT_1k 0.0005
jobuuu 5:a4319f79457b 22 #define DT_5k 0.0002
jobuuu 5:a4319f79457b 23 #define DT_10k 0.0001
jobuuu 5:a4319f79457b 24 #define DT_20k 0.00005
jobuuu 5:a4319f79457b 25 #define DT_40k 0.000025
jobuuu 5:a4319f79457b 26
Lightvalve 19:23b7c1ad8683 27 //extern int CID_RX_CMD;
Lightvalve 19:23b7c1ad8683 28 //extern int CID_RX_REF_POSITION;
Lightvalve 19:23b7c1ad8683 29 //extern int CID_RX_REF_TORQUE;
Lightvalve 19:23b7c1ad8683 30 //extern int CID_RX_REF_PRES_DIFF;
Lightvalve 19:23b7c1ad8683 31 //extern int CID_RX_REF_VOUT;
Lightvalve 19:23b7c1ad8683 32 //extern int CID_RX_REF_VALVE_POSITION;
Lightvalve 19:23b7c1ad8683 33 //extern int CID_RX_REF_CURRENT;
Lightvalve 19:23b7c1ad8683 34 //
Lightvalve 19:23b7c1ad8683 35 //extern int CID_TX_INFO;
Lightvalve 19:23b7c1ad8683 36 //extern int CID_TX_POSITION;
Lightvalve 19:23b7c1ad8683 37 //extern int CID_TX_TORQUE;
Lightvalve 19:23b7c1ad8683 38 //extern int CID_TX_PRES;
Lightvalve 19:23b7c1ad8683 39 //extern int CID_TX_VOUT;
Lightvalve 19:23b7c1ad8683 40 //extern int CID_TX_VALVE_POSITION;
Lightvalve 19:23b7c1ad8683 41
Lightvalve 19:23b7c1ad8683 42
Lightvalve 19:23b7c1ad8683 43
jobuuu 7:e9086c72bb22 44 extern DigitalOut check;
jobuuu 7:e9086c72bb22 45 extern DigitalOut check_2;
jobuuu 7:e9086c72bb22 46 extern AnalogOut dac_1;
jobuuu 7:e9086c72bb22 47 extern AnalogOut dac_2;
jobuuu 7:e9086c72bb22 48
jobuuu 2:a1c0a37df760 49 extern double dtc_v;
jobuuu 2:a1c0a37df760 50 extern double dtc_w;
GiJeongKim 0:51c43836c1d7 51
GiJeongKim 0:51c43836c1d7 52 // I2C
GiJeongKim 0:51c43836c1d7 53 extern I2C i2c; // SDA, SCL (for K22F)
GiJeongKim 0:51c43836c1d7 54 extern const int i2c_slave_addr1;
GiJeongKim 0:51c43836c1d7 55 extern unsigned int value; // 10bit output of reading sensor AS5510
GiJeongKim 0:51c43836c1d7 56
GiJeongKim 0:51c43836c1d7 57 // SPI
Lightvalve 16:903b5a4433b4 58 //extern SPI eeprom; //(SPI_MOSI, SPI_MISO, SPI_SCK);
Lightvalve 16:903b5a4433b4 59 //extern DigitalOut eeprom_cs;
GiJeongKim 0:51c43836c1d7 60 extern SPI enc;
GiJeongKim 0:51c43836c1d7 61 extern DigitalOut enc_cs;
GiJeongKim 0:51c43836c1d7 62
GiJeongKim 0:51c43836c1d7 63 // UART
jobuuu 7:e9086c72bb22 64 extern Serial pc; //Serial pc(PA_9,PA_10); _ UART
jobuuu 7:e9086c72bb22 65
jobuuu 7:e9086c72bb22 66 // CAN
jobuuu 7:e9086c72bb22 67 extern CAN can;
jobuuu 7:e9086c72bb22 68 extern CANMessage msg;
jobuuu 7:e9086c72bb22 69
jobuuu 7:e9086c72bb22 70 // Board Information
jobuuu 7:e9086c72bb22 71
jobuuu 7:e9086c72bb22 72
jobuuu 7:e9086c72bb22 73 // User Function
jobuuu 7:e9086c72bb22 74
jobuuu 7:e9086c72bb22 75 void CurrentControl();
jobuuu 7:e9086c72bb22 76 void ValveControl(unsigned int ControlMode);
Lightvalve 11:82d8768d7351 77
Lightvalve 11:82d8768d7351 78
Lightvalve 11:82d8768d7351 79 /*******************************************************************************
Lightvalve 11:82d8768d7351 80 * COMMON Settings
Lightvalve 11:82d8768d7351 81 ******************************************************************************/
Lightvalve 11:82d8768d7351 82 #define LATEST_VERSION 19032
Lightvalve 11:82d8768d7351 83
Lightvalve 11:82d8768d7351 84
Lightvalve 11:82d8768d7351 85
Lightvalve 11:82d8768d7351 86 /*******************************************************************************
Lightvalve 11:82d8768d7351 87 * COMMON CONSTANTS
Lightvalve 11:82d8768d7351 88 ******************************************************************************/
Lightvalve 11:82d8768d7351 89 #define RAD_30 0.523598775598299
Lightvalve 11:82d8768d7351 90 #define RAD_60 1.047197551196598
Lightvalve 11:82d8768d7351 91 #define RAD_120 2.094395102393195
Lightvalve 11:82d8768d7351 92 #define RAD_180 3.141592653589793
Lightvalve 11:82d8768d7351 93 #define RAD_240 4.188790204786391
Lightvalve 11:82d8768d7351 94 #define RAD_300 5.235987755982989
Lightvalve 11:82d8768d7351 95 #define RAD_360 6.283185307179586
Lightvalve 11:82d8768d7351 96
Lightvalve 11:82d8768d7351 97 #define SYSFREQ 200000000
Lightvalve 11:82d8768d7351 98 #define PBCLK 100000000
Lightvalve 11:82d8768d7351 99
Lightvalve 11:82d8768d7351 100 //#define TMR_FREQ_10k 10000
Lightvalve 11:82d8768d7351 101 #define TMR_FREQ_5k 5000
Lightvalve 11:82d8768d7351 102
Lightvalve 11:82d8768d7351 103 #define FALSE 0
Lightvalve 11:82d8768d7351 104 #define TRUE 1
Lightvalve 11:82d8768d7351 105 #define OUTPUT 0
Lightvalve 11:82d8768d7351 106 #define INPUT 1
Lightvalve 11:82d8768d7351 107 #define LOW 0
Lightvalve 11:82d8768d7351 108 #define HIGH 1
Lightvalve 11:82d8768d7351 109 #define DIGITAL 0
Lightvalve 11:82d8768d7351 110 #define ANALOG 1
Lightvalve 11:82d8768d7351 111
Lightvalve 11:82d8768d7351 112 #define PI 3.141592653589793
Lightvalve 11:82d8768d7351 113 #define D2R 0.017453292519943
Lightvalve 11:82d8768d7351 114 #define R2D 57.295779513082323
Lightvalve 11:82d8768d7351 115
Lightvalve 11:82d8768d7351 116
Lightvalve 11:82d8768d7351 117 /*******************************************************************************
Lightvalve 11:82d8768d7351 118 * HEADER INCLUDE
Lightvalve 11:82d8768d7351 119 ******************************************************************************/
Lightvalve 11:82d8768d7351 120
Lightvalve 11:82d8768d7351 121 /*******************************************************************************
Lightvalve 11:82d8768d7351 122 * VARIABLE
Lightvalve 11:82d8768d7351 123 ******************************************************************************/
Lightvalve 11:82d8768d7351 124
Lightvalve 11:82d8768d7351 125 // Board Information
Lightvalve 11:82d8768d7351 126 extern uint8_t BNO;
Lightvalve 11:82d8768d7351 127 extern uint8_t CONTROL_MODE;
Lightvalve 11:82d8768d7351 128 extern uint8_t OPERATING_MODE;
Lightvalve 11:82d8768d7351 129 extern uint8_t SETTING_SWITCH;
Lightvalve 11:82d8768d7351 130 extern uint8_t SETTING_SWITCH_OLD;
Lightvalve 11:82d8768d7351 131 extern uint8_t REFERENCE_MODE;
Lightvalve 11:82d8768d7351 132 extern uint16_t CAN_FREQ;
Lightvalve 17:1865016ca2e7 133 extern int16_t DIR_JOINT_ENC;
Lightvalve 17:1865016ca2e7 134 extern int16_t DIR_VALVE;
Lightvalve 17:1865016ca2e7 135 extern int16_t DIR_VALVE_ENC;
Lightvalve 11:82d8768d7351 136
Lightvalve 11:82d8768d7351 137 extern double SUPPLY_VOLTAGE;
Lightvalve 11:82d8768d7351 138 extern double VALVE_VOLTAGE_LIMIT;
Lightvalve 11:82d8768d7351 139
Lightvalve 11:82d8768d7351 140 extern double P_GAIN_VALVE_POSITION;
Lightvalve 11:82d8768d7351 141 extern double I_GAIN_VALVE_POSITION;
Lightvalve 11:82d8768d7351 142 extern double D_GAIN_VALVE_POSITION;
Lightvalve 11:82d8768d7351 143 extern double P_GAIN_JOINT_POSITION;
Lightvalve 11:82d8768d7351 144 extern double I_GAIN_JOINT_POSITION;
Lightvalve 11:82d8768d7351 145 extern double D_GAIN_JOINT_POSITION;
Lightvalve 11:82d8768d7351 146 extern double P_GAIN_JOINT_TORQUE;
Lightvalve 11:82d8768d7351 147 extern double I_GAIN_JOINT_TORQUE;
Lightvalve 11:82d8768d7351 148 extern double D_GAIN_JOINT_TORQUE;
Lightvalve 11:82d8768d7351 149
Lightvalve 11:82d8768d7351 150 extern int16_t VALVE_DEADZONE_PLUS;
Lightvalve 11:82d8768d7351 151 extern int16_t VALVE_DEADZONE_MINUS;
Lightvalve 11:82d8768d7351 152
Lightvalve 11:82d8768d7351 153 extern int16_t VELOCITY_COMP_GAIN;
Lightvalve 11:82d8768d7351 154 extern int16_t COMPLIANCE_GAIN;
Lightvalve 11:82d8768d7351 155
Lightvalve 11:82d8768d7351 156 extern int16_t VALVE_CENTER;
Lightvalve 11:82d8768d7351 157
Lightvalve 11:82d8768d7351 158 extern int16_t VALVE_FF;
Lightvalve 11:82d8768d7351 159
Lightvalve 11:82d8768d7351 160 extern int16_t BULK_MODULUS;
Lightvalve 11:82d8768d7351 161
Lightvalve 11:82d8768d7351 162 extern int16_t CHAMBER_VOLUME_A;
Lightvalve 11:82d8768d7351 163 extern int16_t CHAMBER_VOLUME_B;
Lightvalve 11:82d8768d7351 164
Lightvalve 11:82d8768d7351 165 extern int16_t PISTON_AREA_A;
Lightvalve 11:82d8768d7351 166 extern int16_t PISTON_AREA_B;
Lightvalve 11:82d8768d7351 167 extern double PISTON_AREA_alpha;
Lightvalve 11:82d8768d7351 168
Lightvalve 11:82d8768d7351 169
Lightvalve 11:82d8768d7351 170 extern int16_t PRES_SUPPLY;
Lightvalve 11:82d8768d7351 171 extern int16_t PRES_RETURN;
Lightvalve 11:82d8768d7351 172
Lightvalve 11:82d8768d7351 173 extern int16_t ENC_LIMIT_PLUS;
Lightvalve 11:82d8768d7351 174 extern int16_t ENC_LIMIT_MINUS;
Lightvalve 11:82d8768d7351 175
Lightvalve 11:82d8768d7351 176 extern int16_t STROKE;
Lightvalve 11:82d8768d7351 177
Lightvalve 11:82d8768d7351 178
Lightvalve 11:82d8768d7351 179 extern int16_t VALVE_LIMIT_PLUS;
Lightvalve 11:82d8768d7351 180 extern int16_t VALVE_LIMIT_MINUS;
Lightvalve 11:82d8768d7351 181
Lightvalve 11:82d8768d7351 182 extern int16_t ENC_PULSE_PER_POSITION;
Lightvalve 11:82d8768d7351 183 extern int16_t TORQUE_SENSOR_PULSE_PER_TORQUE;
Lightvalve 11:82d8768d7351 184 extern double PRES_SENSOR_A_PULSE_PER_BAR;
Lightvalve 11:82d8768d7351 185 extern double PRES_SENSOR_B_PULSE_PER_BAR;
Lightvalve 11:82d8768d7351 186
Lightvalve 11:82d8768d7351 187 extern int HOMEPOS_OFFSET;
Lightvalve 11:82d8768d7351 188 extern int HOMEPOS_VALVE_OPENING;
Lightvalve 11:82d8768d7351 189
Lightvalve 11:82d8768d7351 190 extern double FRICTION;
Lightvalve 11:82d8768d7351 191 extern double REF_PERIOD;
Lightvalve 11:82d8768d7351 192 extern double REF_MAG;
Lightvalve 11:82d8768d7351 193 extern int REF_NUM;
Lightvalve 11:82d8768d7351 194
Lightvalve 11:82d8768d7351 195
Lightvalve 11:82d8768d7351 196 extern double DAC_REF;
Lightvalve 11:82d8768d7351 197 extern double DAC_RESOL;
Lightvalve 11:82d8768d7351 198
Lightvalve 11:82d8768d7351 199 extern int REF_POSITION;
Lightvalve 11:82d8768d7351 200 extern int REF_VELOCITY;
Lightvalve 11:82d8768d7351 201 extern int16_t REF_TORQUE;
Lightvalve 11:82d8768d7351 202 extern int16_t REF_PRES_DIFF;
Lightvalve 11:82d8768d7351 203 extern int16_t REF_PWM;
Lightvalve 11:82d8768d7351 204 extern int16_t REF_VALVE_POSITION;
Lightvalve 14:8e7590227d22 205 extern int16_t REF_CURRENT;
Lightvalve 11:82d8768d7351 206
Lightvalve 11:82d8768d7351 207 extern int REF_MOVE_TIME_5k;
Lightvalve 11:82d8768d7351 208 extern int INIT_REF_PWM;
Lightvalve 11:82d8768d7351 209 extern int INIT_REF_VALVE_POS;
Lightvalve 11:82d8768d7351 210 extern int INIT_REF_POS;
Lightvalve 11:82d8768d7351 211 extern int INIT_REF_VEL;
Lightvalve 11:82d8768d7351 212 extern int INIT_REF_TORQUE;
Lightvalve 11:82d8768d7351 213 extern int INIT_REF_PRES_DIFF;
Lightvalve 14:8e7590227d22 214 extern int INIT_REF_CURRENT;
Lightvalve 11:82d8768d7351 215
Lightvalve 11:82d8768d7351 216 extern int CUR_POSITION;
Lightvalve 11:82d8768d7351 217 extern int CUR_VELOCITY;
Lightvalve 11:82d8768d7351 218 extern double CUR_TORQUE;
Lightvalve 11:82d8768d7351 219 extern double CUR_PRES_A;
Lightvalve 11:82d8768d7351 220 extern double CUR_PRES_B;
Lightvalve 11:82d8768d7351 221 extern int CUR_PWM;
Lightvalve 11:82d8768d7351 222 extern int CUR_VALVE_POSITION;
Lightvalve 11:82d8768d7351 223
Lightvalve 11:82d8768d7351 224 extern unsigned int TMR2_COUNT_LED1;
Lightvalve 11:82d8768d7351 225 extern unsigned int TMR2_COUNT_LED2;
Lightvalve 11:82d8768d7351 226 extern unsigned int TMR2_COUNT_CAN_TX;
Lightvalve 11:82d8768d7351 227
Lightvalve 11:82d8768d7351 228 extern int num_err;
Lightvalve 11:82d8768d7351 229 extern int flag_err[8];
Lightvalve 11:82d8768d7351 230 extern int flag_err_old[8];
Lightvalve 11:82d8768d7351 231 extern int flag_err_rt;
Lightvalve 11:82d8768d7351 232
Lightvalve 11:82d8768d7351 233 extern int flag_ref_enable;
Lightvalve 11:82d8768d7351 234
Lightvalve 11:82d8768d7351 235 extern int flag_data_request[5];
Lightvalve 11:82d8768d7351 236
Lightvalve 11:82d8768d7351 237 ////////////////////////////////////////////////////////////////////////////////
Lightvalve 11:82d8768d7351 238 ////////////////////////////// SEUNGHOON ADD ///////////////////////////////////
Lightvalve 11:82d8768d7351 239 ////////////////////////////////////////////////////////////////////////////////
Lightvalve 11:82d8768d7351 240
Lightvalve 11:82d8768d7351 241 extern double CUR_PRES_A_BAR;
Lightvalve 11:82d8768d7351 242 extern double CUR_PRES_B_BAR;
Lightvalve 11:82d8768d7351 243 extern double CUR_TORQUE_NM;
Lightvalve 11:82d8768d7351 244 extern double CUR_TORQUE_NM_PRESS;
Lightvalve 11:82d8768d7351 245
Lightvalve 11:82d8768d7351 246 extern double PRES_A_VREF;
Lightvalve 16:903b5a4433b4 247 extern double PRES_A_VREF_TEST;
Lightvalve 11:82d8768d7351 248 extern double PRES_B_VREF;
Lightvalve 16:903b5a4433b4 249 extern double PRES_B_VREF_TEST;
Lightvalve 11:82d8768d7351 250 extern double TORQUE_VREF;
Lightvalve 11:82d8768d7351 251
Lightvalve 11:82d8768d7351 252 extern double VALVE_PWM_RAW_FB;
Lightvalve 11:82d8768d7351 253 extern double VALVE_PWM_RAW_FF;
Lightvalve 11:82d8768d7351 254 extern int VALVE_PWM_VALVE_DZ;
Lightvalve 11:82d8768d7351 255 extern int VALVE_INPUT_PWM;
Lightvalve 11:82d8768d7351 256
Lightvalve 11:82d8768d7351 257 extern double VALVE_GAIN_LPM_PER_V[10];
Lightvalve 17:1865016ca2e7 258 extern double VALVE_POS_VS_PWM[25];
Lightvalve 11:82d8768d7351 259 extern long JOINT_VEL[100];
Lightvalve 11:82d8768d7351 260
Lightvalve 11:82d8768d7351 261 extern int VALVE_MAX_POS;
Lightvalve 11:82d8768d7351 262 extern int VALVE_MIN_POS;
Lightvalve 11:82d8768d7351 263 extern int DDV_CENTER;
Lightvalve 11:82d8768d7351 264 extern int VALVE_POS_NUM;
Lightvalve 11:82d8768d7351 265
Lightvalve 14:8e7590227d22 266 extern int TMR3_COUNT_FINDHOME;
Lightvalve 14:8e7590227d22 267 extern int TMR3_COUNT_FLOWRATE;
Lightvalve 14:8e7590227d22 268 extern int TMR3_COUNT_DEADZONE;
Lightvalve 14:8e7590227d22 269 extern int TMR3_COUNT_PRES_NULL;
Lightvalve 14:8e7590227d22 270 extern int TMR3_COUNT_TORQUE_NULL;
Lightvalve 14:8e7590227d22 271 extern int TMR3_COUNT_PRES_CALIB;
Lightvalve 14:8e7590227d22 272 extern int TMR3_COUNT_REFERENCE;
Lightvalve 14:8e7590227d22 273 extern int TMR3_COUNT_JOINT;
Lightvalve 14:8e7590227d22 274 extern int TMR3_COUNT_ROTARY_FRIC_TUNE;
Lightvalve 11:82d8768d7351 275
Lightvalve 11:82d8768d7351 276 extern bool FLAG_REFERENCE_VALVE_PWM;
Lightvalve 11:82d8768d7351 277 extern bool FLAG_REFERENCE_VALVE_POSITION;
Lightvalve 11:82d8768d7351 278 extern bool FLAG_REFERENCE_JOINT_POSITION;
Lightvalve 11:82d8768d7351 279 extern bool FLAG_REFERENCE_JOINT_TORQUE;
Lightvalve 11:82d8768d7351 280 extern bool FLAG_REFERENCE_PRES_DIFF;
Lightvalve 14:8e7590227d22 281 extern bool FLAG_REFERENCE_CURRENT;
Lightvalve 11:82d8768d7351 282
Lightvalve 11:82d8768d7351 283 extern double TUNING_TIME;
Lightvalve 11:82d8768d7351 284
Lightvalve 11:82d8768d7351 285 extern double REFERENCE_FREQ;
Lightvalve 11:82d8768d7351 286 extern double REFERENCE_MAG;
Lightvalve 11:82d8768d7351 287
Lightvalve 11:82d8768d7351 288 extern bool FLAG_FIND_HOME;
Lightvalve 11:82d8768d7351 289
Lightvalve 11:82d8768d7351 290 extern int MODE_JUMP_STATUS;
Lightvalve 11:82d8768d7351 291
Lightvalve 13:747daba9cf59 292 extern double CUR_PRES_DIFF_BAR;
Lightvalve 13:747daba9cf59 293 extern double CUR_PRES_A_sum;
Lightvalve 13:747daba9cf59 294 extern double CUR_PRES_B_sum;
Lightvalve 13:747daba9cf59 295 extern double CUR_PRES_A_mean;
Lightvalve 13:747daba9cf59 296 extern double CUR_PRES_B_mean;
Lightvalve 13:747daba9cf59 297 extern double CUR_TORQUE_sum;
Lightvalve 13:747daba9cf59 298 extern double CUR_TORQUE_mean;
Lightvalve 13:747daba9cf59 299 extern double PRES_A_NULL;
Lightvalve 13:747daba9cf59 300 extern double PRES_B_NULL;
Lightvalve 13:747daba9cf59 301 extern double TORQUE_NULL;
Lightvalve 13:747daba9cf59 302
Lightvalve 13:747daba9cf59 303 extern double Ref_Valve_Pos_Old;
Lightvalve 13:747daba9cf59 304
Lightvalve 13:747daba9cf59 305 extern int VALVE_ID_timer;
Lightvalve 13:747daba9cf59 306 extern int VALVE_DZ_timer;
Lightvalve 13:747daba9cf59 307 extern int VALVE_FR_timer;
Lightvalve 13:747daba9cf59 308 extern int VALVE_POS_TMP;
Lightvalve 13:747daba9cf59 309 extern int JOINT_VEL_TMP;
Lightvalve 13:747daba9cf59 310 extern int DDV_POS_AVG ;
Lightvalve 19:23b7c1ad8683 311 extern int VALVE_POS_AVG[50];
Lightvalve 13:747daba9cf59 312 extern int VALVE_POS_AVG_OLD;
Lightvalve 13:747daba9cf59 313 extern int data_num;
Lightvalve 13:747daba9cf59 314 extern int ID_index;
Lightvalve 13:747daba9cf59 315 extern int DZ_index;
Lightvalve 19:23b7c1ad8683 316 extern int ID_index_array[50];
Lightvalve 13:747daba9cf59 317 extern int first_check;
Lightvalve 13:747daba9cf59 318 extern double init_time;
Lightvalve 13:747daba9cf59 319 extern int VEL_POINT;
Lightvalve 13:747daba9cf59 320 extern int DZ_case;
Lightvalve 13:747daba9cf59 321 extern int START_POS;
Lightvalve 13:747daba9cf59 322 extern int FINAL_POS;
Lightvalve 13:747daba9cf59 323 extern int DZ_DIRECTION;
Lightvalve 13:747daba9cf59 324 extern int FIRST_DZ;
Lightvalve 13:747daba9cf59 325 extern int SECOND_DZ;
Lightvalve 13:747daba9cf59 326 extern int DZ_NUM;
Lightvalve 13:747daba9cf59 327 extern int one_period_end;
Lightvalve 13:747daba9cf59 328 extern double Ref_Vel_Test;
Lightvalve 13:747daba9cf59 329 extern long TMR2_FOR_SLOW_LOGGING;
Lightvalve 19:23b7c1ad8683 330 //extern int velcount;
Lightvalve 19:23b7c1ad8683 331 extern int Ref_Valve_Pos_FF_CAN;
Lightvalve 13:747daba9cf59 332 extern char max_check;
Lightvalve 13:747daba9cf59 333 extern char min_check;
Lightvalve 13:747daba9cf59 334
Lightvalve 13:747daba9cf59 335 extern double valve_pos_err, valve_pos_err_old, valve_pos_err_diff, valve_pos_err_sum;
Lightvalve 14:8e7590227d22 336 extern double joint_pos_err, joint_pos_err_old, joint_pos_err_diff, joint_pos_err_diff_fil, joint_pos_err_sum;
Lightvalve 13:747daba9cf59 337 extern double joint_torq_err, joint_torq_err_old, joint_torq_err_diff, joint_torq_err_sum;
Lightvalve 13:747daba9cf59 338 extern double VALVE_PWM_RAW_POS, VALVE_PWM_RAW_TORQ;
Lightvalve 13:747daba9cf59 339
Lightvalve 13:747daba9cf59 340 extern double CUR_FLOWRATE;
Lightvalve 13:747daba9cf59 341 extern double VALVE_FF_VOLTAGE;
Lightvalve 13:747daba9cf59 342
Lightvalve 13:747daba9cf59 343 extern int pos_plus_end;
Lightvalve 13:747daba9cf59 344 extern int pos_minus_end;
Lightvalve 13:747daba9cf59 345
Lightvalve 13:747daba9cf59 346 extern bool need_enc_init;
Lightvalve 13:747daba9cf59 347
Lightvalve 13:747daba9cf59 348 extern int temp_time;
Lightvalve 13:747daba9cf59 349
Lightvalve 13:747daba9cf59 350 extern double CUR_VELOCITY_sum;
Lightvalve 13:747daba9cf59 351 extern double temp_vel_sum;
Lightvalve 13:747daba9cf59 352
Lightvalve 13:747daba9cf59 353 extern int DZ_dir;
Lightvalve 13:747daba9cf59 354 extern int DZ_temp_cnt;
Lightvalve 13:747daba9cf59 355 extern int DZ_temp_cnt2;
Lightvalve 13:747daba9cf59 356 extern int DZ_end;
Lightvalve 13:747daba9cf59 357 extern int flag_flowrate;
Lightvalve 13:747daba9cf59 358 extern int fl_temp_cnt;
Lightvalve 13:747daba9cf59 359 extern int fl_temp_cnt2;
Lightvalve 13:747daba9cf59 360 extern int cur_vel_sum;
Lightvalve 13:747daba9cf59 361
Lightvalve 13:747daba9cf59 362 // find home
Lightvalve 13:747daba9cf59 363 extern int CUR_VELOCITY_OLD;
Lightvalve 13:747daba9cf59 364 extern int cnt_findhome;
Lightvalve 13:747daba9cf59 365 extern int cnt_vel_findhome;
Lightvalve 13:747daba9cf59 366 extern int FINDHOME_VELOCITY;
Lightvalve 13:747daba9cf59 367 extern int FINDHOME_VELOCITY_OLD;
Lightvalve 13:747daba9cf59 368 extern int FINDHOME_POSITION;
Lightvalve 13:747daba9cf59 369 extern int FINDHOME_POSITION_OLD;
Lightvalve 13:747daba9cf59 370
Lightvalve 13:747daba9cf59 371 // valve gain
Lightvalve 13:747daba9cf59 372 extern int check_vel_pos_init;
Lightvalve 13:747daba9cf59 373 extern int check_vel_pos_fin;
Lightvalve 13:747daba9cf59 374 extern int check_vel_pos_interv;
Lightvalve 13:747daba9cf59 375 extern int valve_gain_repeat_cnt;
Lightvalve 13:747daba9cf59 376 extern double VALVE_VOLTAGE;
Lightvalve 13:747daba9cf59 377
Lightvalve 13:747daba9cf59 378 extern double freq_fric_tune;
Lightvalve 13:747daba9cf59 379
Lightvalve 14:8e7590227d22 380 extern bool FLAG_VALVE_OUTPUT_CALIB;
Lightvalve 14:8e7590227d22 381
Lightvalve 14:8e7590227d22 382 extern uint32_t TMR3_COUNT_CAN_TX;
Lightvalve 14:8e7590227d22 383
Lightvalve 14:8e7590227d22 384 extern double I_REF;
Lightvalve 14:8e7590227d22 385 extern int TMR3_COUNT_IREF;
Lightvalve 14:8e7590227d22 386 extern double CUR_CURRENT;
Lightvalve 18:b8adf1582ea3 387 extern double u_CUR[3];
Lightvalve 19:23b7c1ad8683 388
Lightvalve 23:59218d4a256d 389 //extern int Ref_Valve_Pos_FF_CAN;
Lightvalve 23:59218d4a256d 390
Lightvalve 23:59218d4a256d 391 //extern int h1, h2, h3, h4, h5, h6;
Lightvalve 23:59218d4a256d 392
Lightvalve 23:59218d4a256d 393
Lightvalve 23:59218d4a256d 394